Dialyzer manufacturing tool

ABSTRACT

A dialyzer housing manufacturing system includes a molding device configured to mold a dialyzer housing, and a tool coupled to a robotic arm and configured to retrieve the dialyzer housing from the molding device after the dialyzer housing is molded. The tool includes a frame, a first suction cup connected to a first portion of the frame, and a second suction cup connected to a second portion of the frame, the second suction cup being oriented about 70 degrees to about 110 degrees relative to the first suction cup.

CROSS-REFERENCE TO RELATED APPLICATIONS

This application is a divisional application of and claims the benefitof priority to U.S. application Ser. No. 16/703,287, filed on Dec. 4,2019, the contents of which are hereby incorporated by reference.

TECHNICAL FIELD

This disclosure relates to a robotic arm tool for use in dialyzermanufacturing.

BACKGROUND

Hemodialysis is a treatment used to support a patient with insufficientrenal function. During hemodialysis, a patient's blood is passed througha dialyzer of a dialysis machine while also passing a dialysis solutionor dialysate through the dialyzer. Dialyzers include a housing and asemi-permeable membrane contained within the housing of the dialyzer.The semi-permeable membrane separates the blood from the dialysatewithin the dialyzer and allows diffusion and osmosis exchanges to takeplace between the dialysate and the blood stream. The housings ofdialyzers are typically manufactured using an injection molding process.

SUMMARY

In one aspect, a dialyzer housing manufacturing system includes amolding device configured to mold a dialyzer housing, and a tool coupledto a robotic arm and configured to retrieve the dialyzer housing fromthe molding device after the dialyzer housing is molded. The toolincludes a frame, a first suction cup connected to a first portion ofthe frame, and a second suction cup connected to a second portion of theframe, the second suction cup being oriented about 70 degrees to about110 degrees relative to the first suction cup.

Embodiments can include one or more of the following features in anycombination.

In certain embodiments, the first and second suction cups are fluidlycoupled to a vacuum source.

In some embodiments, the dialyzer housing manufacturing system furtherincludes a third suction cup connected to the first portion of theframe, a fourth suction cup connected to the first portion of the frame,a fifth suction cup connected to the first portion of the frame, a sixthsuction cup connected to the second portion of the frame, a seventhsuction cup connected to the second portion of the frame; and an eighthsuction cup connected to the second portion of the frame, the sixth,seventh, and eighth suction cups being oriented about 70 degrees toabout 110 degrees relative to the third, fourth, and fifth suction cups.

In certain embodiments, the molding device is configured to mold twodialyzer housings.

In some embodiments, the tool is configured to simultaneously retrievetwo dialyzer housings from the molding device.

In certain embodiments, the molding device is an injection moldingdevice.

In some embodiments, the tool is rotatable between a first position anda second position.

In certain embodiments, the dialyzer housing manufacturing systemfurther includes a pneumatic cylinder, and a rotation pin, wherein therotation pin couples the tool to the robotic arm, and the tool isconfigured to rotate about the rotation pin in response to a forceapplied to the tool by the pneumatic cylinder.

In some embodiments, a width of the tool in the first position is about16 cm to about 17 cm.

In certain embodiments, the molding device is configured to open a pairof mold halves between about 200 mm to about 240 mm after molding thedialyzer housing.

In some embodiments, a width of the tool in the second position is about35 cm to about 36 cm.

In certain embodiments, the mold includes an alignment pin coupled to afirst half of the mold, and the alignment pin remains partially insertedinto a second half of the mold when the mold is opened after molding thedialyzer housing.

In some embodiments, the dialyzer housing manufacturing system furtherincludes a cooling table for cooling the dialyzer housing.

In certain embodiments, the dialyzer housing manufacturing systemfurther includes a storage container for storing the dialyzer housing.In a further aspect, a method includes opening a mold to expose a firstdialyzer housing, coupling the first dialyzer housing to a first portionof a tool, moving the tool to remove the first dialyzer housing from themold, rotating the tool about 70 degrees to about 110 degrees to orientthe first portion of the tool in a first direction, placing the firstdialyzer housing at a first location using the tool, rotating the toolabout 70 degrees to about 110 degrees to orient a second portion of thetool in the first direction, coupling a second dialyzer housing at thefirst location to the second portion of the tool, and placing the seconddialyzer housing at a second location using the tool.

Embodiments can include one or more of the following features in anycombination.

In some embodiments, the mold is opened about 200 mm to about 240 mm.

In certain embodiments, coupling the first dialyzer housing to a firstportion of a tool includes inserting the tool between a first half ofthe mold and a second half of the mold.

In some embodiments, inserting the tool between a first half of the moldand the second half of the mold includes extending a robotic arm coupledto the tool between the first half of the mold and the second half ofthe mold.

In certain embodiments, coupling the first dialyzer housing to the firstportion of the tool includes positioning one or more suction cupscoupled to the first portion of the tool proximate the first dialyzerhousing, and applying vacuum suction through an opening in each of theone or more suction cups.

In some embodiments, placing the first dialyzer housing at a firstlocation using the tool includes positioning the first dialyzer housingproximate the first location using the tool, and stopping theapplication of vacuum suction through the opening of each of the one ormore suction cups.

In certain embodiments, coupling a second dialyzer housing at the firstlocation to the second portion of the tool includes positioning one ormore suction cups coupled to the second portion of the tool proximatethe second dialyzer housing, and applying vacuum suction through anopening in each of the one or more suction cups.

In some embodiments, placing the second dialyzer housing at a secondlocation using the tool includes positioning the second dialyzer housingproximate the second location using the tool, and stopping theapplication of vacuum suction through the opening of each of the one ormore suction cups.

In certain embodiments, the method further includes coupling a thirddialyzer housing to the first portion of the tool, and moving the toolto remove the third dialyzer housing from the mold, wherein the firstdialyzer housing and the third dialyzer housing are removed from themold simultaneously.

In some embodiments, the method further includes coupling a fourthdialyzer housing at the first location to the second portion of thetool, and placing the fourth dialyzer housing at the second locationusing the tool, wherein the second dialyzer housing and the fourthdialyzer housing are placed at the second location simultaneously.

In certain embodiments, the first location comprises a cooling table.

In some embodiments, the second location comprises a storage container.

In a further aspect, a device for removing a dialyzer housing from amold includes a tool coupled to a robotic arm, and a pin rotatablycoupling the tool to the robotic arm. The tool includes a frame, a firstsuction cup connected to a first portion of the frame, and a secondsuction cup connected to a second portion of the frame, the secondsuction cup being oriented about 70 degrees to about 110 degreesrelative to the first suction cup.

Embodiments can include one or more of the following features in anycombination.

In certain embodiments, the first and second suction cups are fluidlycoupled to a vacuum source.

In some embodiments, the device further includes a third suction cupconnected to the first portion of the frame, a fourth suction cupconnected to the first portion of the frame, a fifth suction cupconnected to the first portion of the frame, a sixth suction cupconnected to the second portion of the frame, a seventh suction cupconnected to the second portion of the frame, and an eighth suction cupconnected to the second portion of the frame, the sixth, seventh, andeighth suction cups being oriented about 70 degrees to about 110 degreesrelative to the third, fourth, and fifth suction cups.

In certain embodiments, the tool is configured to rotate about 70degrees to about 110 degrees between a first position and secondposition about the pin.

In some embodiments, a width of the tool in the first position is about16 cm to about 17 cm.

In certain embodiments, a width of the tool in the second position isabout 35 cm to about 36 cm.

In a further aspect, a dialyzer housing manufacturing system includes amolding device configured to mold a dialyzer housing, and a tool coupledto a robotic arm and configured to retrieve the dialyzer housing fromthe molding device after the dialyzer housing is molded. The toolincludes a frame, a first suction cup connected to a first portion ofthe frame, and a second suction cup connected to a second portion of theframe, wherein the tool is rotatable between a first position in whichthe first suction cup extends in a first direction and a second positionin which the second suction cup extends in the first direction, and thewidth of the tool in the second position is greater than the width ofthe tool in the first position.

The width of the tool in the first position is measured linearly fromthe first suction cup to an opposite edge of the tool, and the width ofthe tool in the second position is measured linearly from the secondsuction cup to an opposite edge of the tool.

Advantages of the systems, devices, and methods described herein includereduced wear on the injection molding device. For example, by using arotatable arm tool to minimize the amount that the mold must be openedduring removal of a dialyzer housing from the mold (“de-molding”), theamount of wear on the injection molding device is reduced. In addition,by using a rotatable arm tool to minimize the amount that the mold mustbe opened during de-molding, the alignment pins of the molding devicecan remain engaged during de-molding, which reduces the risk of damageto the injection molding device. Another advantage is that the overalltime required to perform injection molding of the dialyzer housing isreduced by using a rotatable arm tool to minimize the amount the moldmust be opened during de-molding.

Other aspects, features, and advantages will be apparent from thedescription and drawings, and from the claims

DESCRIPTION OF DRAWINGS

FIG. 1 depicts a system for manufacturing a dialyzer housing thatincludes a molding device and a robotic arm tool.

FIG. 2 is a perspective view of the robotic arm tool of the system ofFIG. 1 in a first position.

FIG. 3 is a perspective view of the robotic arm tool of the system ofFIG. 1 in a second position.

FIG. 4 is a side view of the molding device of the system of FIG. 1 .

FIG. 5 is a front view of a portion of the molding device of the systemof FIG. 1 .

FIGS. 6-21 depict an example process for manufacturing a dialyzerhousing using the system of FIG. 1 .

DETAILED DESCRIPTION

Referring to FIG. 1 , a dialyzer manufacturing system 100 includes aninjection molding device 102, a robotic arm 104, a cooling table 106,and a storage container 108.

As depicted in FIG. 1 , the injection mold includes two mold halves 110,112. As described in further detail herein, the mold halves 110, 112 canmove within the injection molding device 102 to form a cavity in which adialyzer housing 124 can be molded. For example, as depicted in FIG. 1 ,during injection molding of the dialyzer housing 124, the mold halves110, 112 are pressed together and molten resin is injected into thecavity formed by the mold halves 110, 112 to mold the dialyzer housing124. Once the dialyzer housing 124 is molded, the mold halves 110, 112open to expose the dialyzer housing 124 and allow for retrieval of thedialyzer housing 124 from the injection molding device 102.

Once the dialyzer housing has been formed by the injection moldingdevice 102, the robotic arm 104 is used to retrieve the dialyzer housing124 from the injection molding device 102. As depicted in FIG. 1 , anarm tool 114 is coupled to an end of the robotic arm 104. As describedin further detail herein, the arm tool 114 can apply a suction force tothe dialyzer housings 124 to remove the dialyzer housings 124 from theinjection molding device 102.

Once the dialyzer housing 124 has been removed from the injectionmolding device 102 using the arm tool 114, the robotic arm 104 and armtool 114 are used to place the dialyzer housing 124 on the cooling table106. For example, the arm tool 114 can rotate about the end of therobotic arm 104 to position a dialyzer housing 124 coupled to the armtool 114 on the cooling table 106. The cooling table 106 is configuredto provide air flow around the dialyzer housing 124 to reduce thetemperature of the surface of the newly molded dialyzer housing 124. Asdepicted in FIG. 1 , the cooling table 106 includes multiple coolingracks 138, which allows for multiple dialyzer housings 124 to bepositioned on the cooling table 106.

Once the surface of the dialyzer housing 124 has cooled to a temperatureranging from about 115° C. to about 125° C., a portion of the arm tool114 couples to the dialyzer housing 124. The robotic arm 104 and the armtool 114 lifts the dialyzer housing 124 off the cooling table 106 andplaces the dialyzer housing 124 within the storage container 108. Oncethe storage container 108 is filled with dialyzer housings, a new, emptystorage container is provided, and the filled storage container 108 canbe used to store or ship the dialyzer housings packed within the storagecontainer 108.

Still referring to FIG. 1 , the robotic arm 104 of the dialyzer housingmanufacturing system 100 includes a base 116, a lateral boom 118, and avertical projection 120. The base 116 is stationary relative to theinjection molding device 102 and includes a set of tracks 122 extendingalong the length of a top surface of the base 116. The position of thearm tool 114 can be adjusted by moving various components of the roboticarm 104. For example, the vertical projection 120 can traverse along thelength on the lateral boom 118 and the lateral boom can traversecrosswise along the length of the base 116 by traveling along the tracks122. In addition, the vertical projection 120 is configured to extend tolower the arm tool 114 and retract to raise the arm tool 114. Bycoordinating the movements of the lateral boom 118 and the verticalprojection 120, the arm tool 114 can be precisely positioned withinthree dimensional space.

As depicted in FIG. 1 , the dialyzer manufacturing system 100 alsoincludes a set of controllers 160, 162. A first controller 160 isconfigured to control the injection molding device 102, and a secondcontroller 162 is configured to control the robotic arm 104 and the armtool 114. The controllers 160, 162 are communicatively coupled with eachother and send signal to one another to coordinate the movements of theinjection molding device 102, the robotic arm 104, and the arm tool 114.By controlling the timing and movements of the injection molding device102, the robotic arm 104, and the arm tool 114, the controllers 160, 162enable the arm tool 114 to engage and move dialyzer housings 124throughout the dialyzer housing manufacturing system 100. For example,the injection molding device controller 160 signals the robotic armcontroller 162 when the molds 110, 112 are in an open position and therobotic arm controller 162 controls the robotic arm 104 and arm tool 114to retrieve the dialyzer housings from the molds 110, 112.

Further, the injection molding device 102 and the robotic arm 104 eachinclude rotary encoder(s) (not shown) that are communicably coupled tothe controllers 160, 162, and signals received by the controllers 160,162 from the rotary encoder(s) can be used to determine the spatialpositioning of the components of the injection molding device 102 androbotic arm 104. For example, rotary encoder(s) are used to measure thenumber of rotations of the motor(s) of the robotic arm 104 hascompleted. The controller 162 can determine the direction and distancethat the lateral boom 118 and/or vertical projection 120 of the roboticarm 104 has travelled based on the number of rotations that the motor(s)of the robotic arm 104 has completed, as detected by the rotaryencoder(s). Based on determining the direction and distance that thelateral boom 118 and/or vertical projection 120 has travelled based onthe signals received from the rotary encoder(s), the controller 162 candetermine the position of the arm tool 114 in three-dimensional space.Similarly, rotary encoders are used to measure the number of rotationsof the motor(s) used to move the mold 110, 112 has completed. Thecontroller 160 can determine the direction and distance that the moldhalf 112 of the injection molding device 102 has travelled based on thenumber of rotations that the motor(s) of the injection molding device102 has completed, as detected by the rotary encoder(s). Each of thecomponents of the injection molding device 102 and the robotic arm 104are configured to move predetermined distances throughout the processcycle in order to conduct molding and transporting the dialyzerhousings. In some embodiments, the rotary encoders of the injectionmolding device 102 and the robotic arm 104 each determine the number ofrotations that the motor(s) of the injection molding device 102 and therobotic arm 104, respectively, have completed based on signals receivedfrom a proximity switch(es) communicably coupled to the encoders. Insome embodiments, the rotary encoders of the injection molding device102 and the robotic arm 104 each determine the number of rotations thatthe motor(s) of the injection molding device 102 and the robotic arm104, respectively, have completed based on magnets of the rotaryencoders.

FIG. 2 depicts a perspective view of the arm tool 114 in a firstposition 200. As depicted in FIG. 2 , the arm tool 114 includes eightsuction cups 230, 232, 234, 236, 238, 240, 242, 244 coupled to a frame280.

Each suction cup 230, 232, 234, 236, 238, 240, 242, 244 is configured tocouple to a dialyzer housing 124 that is formed by the injection moldingdevice 102. For example, each suction cup 230, 232, 234, 236, 238, 240,242, 244 includes an opening through its center, and each suction cup230, 232, 234, 236, 238, 240, 242, 244 is fluidly coupled to a vacuumsource, enabling suction to be applied through the center of eachsuction cup 230, 232, 234, 236, 238, 240, 242, 244. As described infurther detail herein, a dialyzer housing can be coupled to the suctioncups 230, 232, 234, 236, 238, 240, 242, 244 by applying suction throughthe center of the respective suction cup.

The suction cups 230, 232, 234, 236, 238, 240, 242, 244 are divided intoa first set of suction cups 202, which includes suction cups 230, 232,234, 236, and a second set of suction cups 204, which includes suctioncups 238, 240, 242, 244. As depicted in FIG. 2 , the first set ofsuction cups 202 is coupled to a first portion 282 of the frame 280, andthe second set of suction cups 204 is coupled to a second portion 284 ofthe frame 280. As can be seen in FIGS. 2 and 3 , the first set ofsuction cups 202 are coupled to the frame 280 such that the first set202 is oriented about 90 degrees relative to the second set of suctioncups 204.

Referring to FIG. 1 , the system 100 includes a vacuum source 150 thatis fluidly coupled to each set of suction cups 202, 204 via a vacuumline 152 that extends along the vertical projection 120. The controller160 controls the application of vacuum suction through each set ofsuction cups 202, 204 to allow for selective engagement of dialyzerhousings to the sets of suction cups 202, 204. The vacuum source 150applies a vacuum pressure in a range of about 0.35 MPa to about 0.50 MPato the ends of each of the suction cups. Any of various suitable pumpscan be used as the vacuum source 150, such as a suction pump, a positivedisplacement pump, a venturi pump, etc.

The vacuum source 150 is communicatively coupled to a controller 160,which controls the timing of the application of suction by the vacuumsource 150 through the sets 202, 204 of suction cups of the arm tool114. For example, the controller 160 can coordinate the vacuum suctionwith the movements of the robotic arm 104 and the arm tool 114 in orderto selectively apply vacuum suction through one of the sets of suctioncups 202, 204 when the respective set is positioned proximate a dialyzerhousing to be moved by the arm tool 114.

As depicted in FIG. 2 , the first portion 282 of the frame 280 forms arectangular platform 206 and the first set of suction cups 202 isattached to the rectangular platform 206. When the arm tool 114 is in afirst position 200 (as depicted in FIG. 1 ), the rectangular platform206 is positioned such that the first set of suction cups 202 coupled tothe platform 206 point sideways relative to the vertical projection 120of the robotic arm 104. As depicted in FIG. 2 , the first set of suctioncups 202 includes two pairs of suction cups 208, 210. Each suction cup230, 232, 234, 236 in the first set 202 is coupled to the rectangularplatform 206 proximate a respective corner of the rectangular platform206.

The first set of suctions cups 202 is configured to simultaneouslycouple to two dialyzer housings, with the first pair of suction cups 208coupling to a first dialyzer housing and the second pair of suction cups210 coupling to a second dialyzer housing. As previously discussed, eachof the suction cups in the first set 202 includes an openingtherethrough. The first set of suction cups 202 are fluidly coupled tothe vacuum line 152, which is coupled to the vacuum source 150, andvacuum suction can be provided through the vacuum line 152 to the firstset of suction cups 202 in order to couple a pair of dialyzer housingsto the first set of suction cups 202.

In some examples, the rectangular platform 206 has a total width ofabout 9 cm to about 11 cm (e.g., about 10.16 cm), a total length ofabout 16 cm to about 17 cm (e.g., about 16.51 cm), and a total thicknessof about 1 cm to about 3 cm (e.g., about 2.54 cm).

Still referring to FIG. 2 , the second portion 284 of the frame 280forms a U-shaped platform 212, and the second set of suction cups 204 isattached to a U-shaped platform 212. The U-shaped platform 212 includesa first post 214, a second post 216, and a connector bar 218. The firstpost 214 is coupled to a first end of the connector bar 218 and thesecond post 216 is coupled to a second end of the connector bar 218opposite the first post 214. As depicted in FIG. 2 , the longitudinalaxis of the connector bar 218 is substantially perpendicular to thelongitudinal axis of each of the posts 214, 216. When the arm tool 114is in the first position 200 (as depicted in FIG. 2 ), the longitudinalaxis of each of the posts 214, 216 is substantially parallel to thelongitudinal axis of the vertical projection 120 of the robotic arm 104.As depicted in FIG. 2 , the rectangular platform 206 is coupled to theconnector bar 218 of the U-shaped platform 212.

In some examples, each post 214, 216 of the U-shaped platform 212 has atotal width of about 7 cm to about 8 cm (e.g., about 7.62 cm), a totallength of about 22 cm to about 24 cm (e.g., about 25.4 cm), and a totalthickness of about 1 cm to about 3 cm (e.g., about 3.81 cm). In someexamples, the connector bar 218 of the U-shaped platform 212 has a totalwidth of about 7 cm to about 8 cm (e.g., about 7.62 cm), a total lengthof about 16 cm to about 17 cm (e.g., about 16.51 cm), and a totalthickness of about 1 cm to about 3 cm (e.g., about 2.54 cm).

Similar to the first set of suction cups 202, the second set of suctioncups 204 also includes a first pair of suction cups 220 and a secondpair of suction cups 222, totaling four suction cups in the second set204. As depicted in FIG. 2 , the first pair of suction cups 220 of thesecond set 204 is coupled to an end of the first post 214, and thesecond pair of suction cups 222 of the second set 204 is coupled to anend of the second post 216.

As depicted in FIG. 2 , the second set of suctions cups 204 isconfigured to couple to two dialyzer housings, with the first pair ofsuction cups 220 coupling to a first dialyzer housing 224 and the secondpair of suction cups 222 coupling to a second dialyzer housing 226. Forexample, as previously discussed, each of the suction cups in the secondset 204 includes an opening therethrough. In addition, the posts 214,216 each include a vacuum line 154, 156, respectively, coupled to vacuumline 152 to allow suction to be applied through second set of suctioncups 204 to couple a pair of dialyzer housings to the second set ofsuction cups 204.

FIG. 3 depicts the arm tool 114 in a second position 300. As shown inFIG. 3 , when the arm tool 114 is in the second position 300, thelongitudinal axis of each of the posts 214, 216 of the U-shaped platform212 are perpendicular to the longitudinal axis of the verticalprojection 120 of the robotic arm 104. In addition, when the arm tool114 is in the second position 300, the first set of suction cups 202coupled to the rectangular platform 206 are facing downward.

As depicted in FIG. 3 , the arm tool 114 is coupled to an end of thevertical projection 120 of the robotic arm 104 using a pin connector302, and is rotatable about the end the vertical projection 120 via thepin connector 302. For example, the arm tool 114 can rotate about 0degrees to about 90 degrees about the pin connector 302. In someembodiments, the arm tool 114 rotates about 90 degrees about the pinconnector 302 between the first position 200 (depicted in FIG. 2 ) andthe second position 300 (depicted in FIG. 3 ). The arm tool 114 alsoincludes a pneumatic cylinder (not shown), which applies a force to anend of the arm tool 114 and causes the arm tool to rotate about the pinconnector 302. The controller 160 controls and coordinates the rotationof the arm tool 114 between the first position 200 and the secondposition 300 during manufacturing and packaging the dialyzer housings.For example, the controller 160 signals the pneumatic cylinder of thearm tool 114 to extend or retract to rotate the arm tool 114 between thefirst position 200 and the second position 300.

As can be seen in FIGS. 2 and 3 , the width 270 of the profile of thearm tool 114 in the first position 200 is smaller than the width 370 ofthe profile of the arm tool 114 in the second position 300. For examplethe width 270 of the profile of the arm tool 114 in the first position200 can be about 16 cm to about 17 cm (e.g., about 16.5 cm), and thewidth 370 of the profile of the arm tool 114 in the second position 300can be about 35 cm to about 36 cm (e.g., about 35.5 cm). The width 270of the profile of the arm tool 114 in the first position 200 can beabout 18 cm to about 20 cm less than the width 370 of the profile of thearm tool 114 in the second position 300. As depicted in FIG. 2 , thewidth 270 of the tool 114 in the first position 200 is measured linearlyfrom the first set of suction cups 202 to an opposite edge of the tool.As depicted in FIG. 3 , the width 370 of the tool 114 in the secondposition 300 is measured linearly from the second set of suction cups204 to an opposite edge of the tool 114.

Rotating the arm tool 114 between the first position 200 and the secondposition 300 reduces the amount the injection molding device 102 must beopened to enable the arm tool 114 to fit between the molds 110, 112,while still allowing the arm tool 114 to reach the bottom of the storagecontainer 108 to place the dialyzer housings within the storagecontainer 108. Minimizing the amount the injection molding device 102must be opened to enable the arm tool 114 to remove the dialyzer housing124 from the mold halves 110,112 can reduce the wear on the molds110,112. In addition, minimizing the amount the mold halves 110, 112must be opened during de-molding can reduce the risk of misalignment ofthe mold halves 110, 112, and can thus reduce the risk of damage to theinjection molding device 102. Further, minimizing the amount theinjection molding device 102 must be opened during de-molding can reducethe time required to open the molding injection device 102 duringde-molding, which can reduce the overall time required to manufacturethe dialyzer housing 124.

FIG. 4 depicts a side view of the injection molding device 102 of thedialyzer housing manufacturing system 100. As depicted in FIG. 4 , theinjection molding device 102 includes a first mold half 110 and a secondmold half 112. The mold halves 110, 112 of the injection molding device102 are configured to form two dialyzer housings at the same time.

FIG. 5 depicts a front view of the first mold half 110 of the injectionmolding device 102. As depicted in FIG. 5 , the first mold half 110includes two cavities 502, 504 and multiple alignment pins 510, 512,514, 516, 520, 522, 524, 526.

The cavities 502, 504 are each used to form a dialyzer housing 124. Thesecond mold half 112 includes two corresponding cavities (not shown).During injection molding, the cavities 502, 504 of the first mold half110 and the cavities of the second mold half 112 are aligned, the moldhalves 110, 112 are positioned against one another, and molten materialis injected into the cavities. As the injected material cools, thematerial takes the form of the cavities in the first and second moldhalves 110, 112 to form the dialyzer housings 124. The dialyzer housings124 can be formed of any of various different medical grade materials.Examples of such materials include polycarbonate, polypropylene, etc.

As depicted in FIG. 5 , the first mold half 110 includes a first set offour mold alignment pins 510, 512, 514, 516 and a second set of moldalignment pins 520, 522, 524, 526 projecting outward from the interiorsurface 518 of the first mold half 110. The mold alignment pins 510,512, 514, 516, 520, 522, 524, 526 ensure proper alignment and a securefitting between the two mold halves 110, 112 during injection molding.For example, when the mold halves 110, 112 of the injection moldingdevice 102 are properly aligned, the mold alignment pins 510, 512, 514,516, 520, 522, 524, 526 align with and are inserted into correspondingopenings in the second mold half 112 (not shown).

As depicted in FIG. 4 , once the injection molding is complete, thesecond mold half 112 is moved apart from first mold half 110 by apredetermined distance 450 to expose the dialyzer housings formed by theinjection molding device 102. In some cases, the second mold half 112 ismoved about 230 mm apart from the first mold half 110 to accommodate theinsertion of the arm tool 114 (positioned in the first position 200)between the mold halves 110, 112. The arm tool 114 is used to remove thedialyzer housings 424 from the second mold half 112.

As depicted in FIG. 4 , the mold alignment pins 510, 512, 514, 516 andcore alignment pins 520, 522, 524, 526 of the second mold half 112remain at least partially inserted in the corresponding openings in thefirst mold half 110 throughout the injection molding process. Bypositioning the arm tool 114 in the first position 200 to minimize thedistance between the mold halves 110, 112 required to insert arm tool114 between the mold halves 110, 112, the alignment pins 510, 512, 514,516, 520, 522, 524, 526 of the second mold half 112 can remain partiallyinserted in the openings of the first mold half 110 during de-molding.Leaving the alignment pins 510, 512, 514, 516, 520, 522, 524, 526 of thesecond mold half 112 partially inserted in the first mold half 110during de-molding reduces the risk of misalignment of the mold halves110, 112 and reduces the risk of damage to the mold halves 110, 112.

The second mold half 112 also includes ejector pins (not shown) that areused to eject the formed dialyzer housings 424 from the second mold half112. As described in further detail herein, the controller 160coordinates the movement of the ejector pins and the application ofsuction through the vacuum line 152 to the arm tool 114 such that theejector pins eject the dialyzer housings 424 from the mold 112 and thearm tool 114 provides suction and couples to the dialyzer housings 424simultaneously.

A method of manufacturing and packing dialyzer housings will now bedescribed with references to FIGS. 6-21 .

As depicted in FIG. 6 , the mold halves 110, 112 are closed while theinjection molding device 102 performs injection molding of a pair ofdialyzer housings (not shown). While the injection molding device 102performs injection molding of the dialyzer housings, the robotic arm 104is in a retracted position such that the arm tool 114 is positioned overthe mold halves 110, 112. As depicted in FIG. 6 , the arm tool 114 is inthe first position 200 such that the posts 214, 216 of the U-shapedplatform and the second set of suction cups 204 are pointing downward,and the first set of suction cups 202 are oriented laterally relative tothe vertical projection 120.

Referring to FIG. 7 , once injection molding of the dialyzer housings bythe injection molding device 102 is complete, the second mold half 112retracts and moves apart from the first mold half 110 to expose thedialyzer housings. The distance between the mold halves 110, 112 issized to allow the arm tool 114 in the first position 200 to be insertedbetween the mold halves 110, 112 with the first set of suction cups 202facing the second mold half 112. For example, the distance between themold halves 110, 112 in the open position following injection molding isbetween about 230 mm to accommodate the insertion of the arm tool 114positioned in the first position 200 between the mold halves 110, 112.As previously discussed, the alignment pins 510, 512, 514, 516, 520,522, 524, 526 of the second mold half 112 remain partially inserted inthe openings of the first mold half 110 through the entire manufacturingprocess. The controller 160 controls the movement of the second moldhalf 112 to move apart from the first mold half 110 by a predetermineddistance to open the mold.

As depicted in FIG. 8 , once the injection molding process is completeand the controller determines, based on signals received from rotaryencoders (not shown) in the injection molding device 102, that thesecond mold half 112 has moved a predetermined amount (e.g., about 230mm) to expose the dialyzer housings, the controller 160 for theinjection molding device 102 transmits a signal to the controller 162for the robotic arm 104 to indicate that the mold 110, 112 is open. Inresponse to receiving a signal from the controller 160 of the injectionmolding device 102 indicating that the mold 110, 112 is open, thecontroller 162 of the robotic arm 104 controls the vertical projection120 of the robotic arm 104 to extend to insert the arm tool 114 betweenthe first mold half 110 and the second mold half 112. The verticalprojection 120 of the robotic arm 114 continues to extend until thecontroller 162 for the robotic arm 104 determines, based on feedbackreceived from rotary encoders (not shown) of the robotic arm 104, thatthe vertical projection 120 has extended a predetermined distance thatcorresponds to the first pair of suction cups 208 of the first set 202being vertically aligned with a first dialyzer housing in the secondmold half 112 and the second pair of suction cups 210 of the first set202 being vertically aligned with a second dialyzer housing in thesecond mold half 112.

FIG. 9 depicts a side view of the molding device 102 with the arm tool114 inserted between the mold halves 110, 112 of the molding device 102.As can be seen in FIG. 9 , the first pair of suction cups 208 of thefirst set 202 is vertically aligned with a first dialyzer housing 902 inthe second mold half 112. In addition, the second pair of suction cups210 (not shown) of the first set 202 is vertically aligned with a seconddialyzer housing 904 in the second mold half 112. As previouslydiscussed, the controller 162 can determine the position of the arm tool114 in three-dimensional space based on signals received from rotaryencoders (not shown) of the robotic arm 104.

Once the controller has reached the fixed spatial location correspondingto alignment between the pairs of suction cups 208, 210 and dialyzerhousings 902, 904, the controller 162 ceases extension of the verticalprojection 120.

Once the pairs of suction cups 208, 210 are vertically aligned with thedialyzer housings 902, 904, the vertical projection 120 travels alongthe lateral boom 118 of the robotic arm 104 until each of the suctioncups in the pairs 208, 210 are moved into contact with the surface ofthe dialyzer housings 902, 904. For example, once the first set ofsuction cups 202 are vertically aligned with the dialyzer housings 902,904, as determine by the controller 162 based on rotary encoder signals,the controller 162 controls the vertical projection 120 of the roboticarm 114 to travel laterally along the lateral boom 118 towards thesecond mold half 112. The vertical projection 120 continues to movetowards the second mold half 112 until the controller 162 determines,based on signals received from the rotary encoder(s) of the robotic arm104, that the coordinates of the arm tool 114 correspond to apredetermined position corresponding to the first and second pairs ofsuction cups 208, 210 being in contact with the surface of the dialyzerhousings 902, 904, respectively.

Once the pairs of suction cups 208, 210 are each aligned with andpositioned proximate the dialyzer housings 902, 904, the controller 162initiates the application of suction through the pairs of suction cups208, 210 and sends a signal to the controller 160 of the injectionmolding device 102 to move the ejector pins (not shown) of the secondmold half 112. The extension of the ejector pins outwards from thesecond mold half 112 forces the dialyzer housings 902, 904 out of thecorresponding cavities in the second mold half 112. As the ejector pinsof the second mold half 112 force the dialyzer housings 902, 904 out ofthe mold half 112, vacuum suction is applied through each of the pairsof suction cups 208, 210 to couple the dialyzer housings 902, 904 to thefirst and second pairs of suction cups 208, 210, respectively. Aspreviously discussed, each suction cup in the pairs 208, 210 includes anopening through its center, and each suction cup in the pairs 208, 210is fluidly coupled to a vacuum source (e.g., vacuum source 150 of FIG. 1) via vacuum lines 152, 154, 156, enabling suction to be applied throughthe center of each suction cup. The suction applied through the pairs ofsuction cups 208, 210 is transferred to the surface of the dialyzerhousings 902, 904, coupling the housings 902, 904 to the pairs ofsuction cups 208, 210 in the first set 202.

Referring to FIG. 10 , once each of the dialyzer housings 902, 904 areremoved from the second mold half 112 and coupled to the first set ofsuction cups 202 via vacuum suction, the vertical projection 120 of therobotic arm 104 is retracted and suction is continually supplied throughthe first set of suction cups 202 to lift the dialyzer housings 902, 904out of the injection molding device 102. In some examples, thecontroller 160 determines that the dialyzer housings 902, 904 arecoupled to the first set of suction cups 202 based on a signal receivedfrom a vacuum confirmation sensor (not shown) on the arm tool 114. Oncethe vertical projection 120 has retraced to a predetermined position tolift the dialyzer housings 902, 904 out of the injection molding device102, the controller 162 of the robotic arm 104 sends a signal to thecontroller 160 of injection molding device 102. In response to receivingthe signal from controller 162, the controller 160 of the injectionmolding device 102 controls the second mold half 112 to move the secondmold half 112 towards the first mold half 110 a predetermined distancecorresponding to the halves 110, 112 touching and the mold being closed,as depicted in FIG. 10 . In addition, as the vertical projection 120retracts, suction is continually applied through the first set ofsuction cups 202 to maintain the coupling of the dialyzer housings 902,904 to the arm tool 114.

After lifting the dialyzer housings 902, 904 out of the injectionmolding device 102, the robotic arm 104 and arm tool 114 are used toplace the dialyzer housings 902, 904 on a cooling table 106. FIGS. 11-15depict a process of placing the dialyzer housings 902, 904 on thecooling table 106 using the arm tool 114.

Referring to FIG. 11 , with the dialyzer housings 902, 904 coupled tothe first set of suction cups 202 of the arm tool 114 via vacuumsuction, the lateral boom 118 of the robotic arm 104 travels forward apredetermined distance along the base 116 of the robotic arm 104. Aspreviously discussed, the base 116 includes a set of tracks 122 alongits length to allow for smooth movement of the lateral boom 118 forwardand backward along the base 116. The lateral boom 118 continues totravel forward along the base 116 until the controller 160 receives asignal from the rotary encoders of the robotic arm 104 indicating thatthe lateral boom 118 has travelled a predetermined distancecorresponding to the arm tool 114 being positioned such that the firstset of suction cups 202 are positioned over a pair of empty coolingracks 918, 920 on the cooling table 106.

Still referring to FIG. 11 , in addition to the lateral boom 118travelling along the base 116, the vertical projection 120 travelslaterally along the lateral boom 118 a predetermined distance toposition the arm tool 114 such that the first set of suction cups 202are positioned over a pair of empty cooling racks 918, 920 on thecooling table 106. For example, the vertical projection 120 continues totravel laterally along the lateral boom 118 until the controller 160receives a signal from rotary encoders of the robotic arm 104 indicatingthat the vertical projection 120 has travelled a predetermined distancecorresponding to the arm tool 114 being positioned such that the firstset of suction cups 202 are positioned over a pair of empty coolingracks 918, 920 on the cooling table 106.

As the robotic arm 104 moves to position the arm tool 114 over thecooling racks 918, 920, the arm tool 114 rotates about the pin connector302 to rotate the arm tool 114 from the first position 200 (as depictedin FIG. 10 ) to the second position 300 (as depicted in FIG. 12 ). FIG.11 depicts the rotation of the arm tool between the first position 200and the second position 300 as the robotic arm 104 travels towards thecooling table 106. As previously discussed, the arm tool 114 includes apneumatic cylinder (not shown) that applies a force to an end of the armtool 114 and causes the arm tool to rotate about the pin connector 302.The controller 160 coordinates the rotation of the arm tool 114 betweenthe first fixed position 200 and the second fixed position 300 based onthe current location of the arm tool 114 in three-dimensional space, asdetermined based on the signals received from the rotary encoders of thearm tool 114. For example, the controller 162 is programmed to rotatethe arm tool 114 from the first position 200 to the second position 300at a specific point in the sequence of movements of the manufacturingcycle and based on the position of the arm tool 114 in three-dimensionalspace.

FIG. 12 depicts the arm tool 114 positioned in the second position 300with the dialyzer housings 902, 904 coupled to the first set of suctioncups 202, and the first set of suction cups 202 facing downwards andaligned over the empty cooling racks 918, 920 on the cooling table 106.

Referring to FIG. 13 , once the arm tool 114 is in the second position300 with the dialyzer housings 902, 904 aligned over the empty coolingracks 918, 920, as determined based on signals received by thecontroller 162 from the rotary encoder(s) of the robotic arm 104, thevertical projection 120 of the robotic arm 104 extends a predeterminedamount (as detected by the rotary encoder(s) of the robotic arm) tolower the dialyzer housings 902, 904 into the respective cooling racks918, 920. Once the robotic arm 104 has lowered the dialyzer housings902, 904 a predetermined amount into the cooling racks 918, 920, thevacuum suction provided through the first set of suction cups 202 isstopped, which decouples the dialyzer housings 902, 904 from the armtool 114 and releases the housings 902, 904 onto the cooling racks 918,920. FIG. 14 depicts a perspective view of the arm tool 114 in thesecond position 300 releasing a pair of dialyzer housing 1002, 1004 intoa pair of cooling racks 1018, 1020 on a cooling table 106.

Once the dialyzer housings 902, 904 have been placed on the coolingtable 106 and released from the arm tool 114, the arm tool 114 is usedto move another pair of dialyzer housings into the storage container108. FIGS. 15-21 depict a process of moving a pair of dialyzer housingsfrom the cooling table 106 to the storage container 108.

Referring to FIG. 15 , once the dialyzer housings 902, 904 have beenplaced on the cooling racks 918, 920 and released from the arm tool 114,the vertical projection 120 of the robotic arm 104 retracts to lift thearm tool 114 above the cooling table 106. Once lifted above the coolingtable 106 a predetermined distance, as measured by rotary encoders ofthe robotic arm 102, the controller 162 controls the arm tool 114 torotate about the pin connector 302 from the second position 300 (asdepicted in FIG. 15 ) to the first position 200 (as depicted in FIG. 16). As previously discussed, the arm tool 114 includes a pneumaticcylinder (not shown) that applies a force to an end of the arm tool 114and causes the arm tool to rotate about the pin connector 302. Thecontroller 160 coordinates the rotation of the arm tool 114 from thesecond fixed position 300 to the first fixed position 200 based on thespatial positioning of the arm tool 114. For example, the controller 162is programmed to rotate the arm tool 114 from the second position 300 tothe first position 200 at a specific point in the sequence of movementsof the manufacturing cycle and based on the position of the arm tool 114in three-dimensional space.

Referring to FIG. 17 , once the arm tool 114 is in the first positionwith the second set of suction cups 204 facing downwards towards thecooling table 106, the vertical projection 120 of the robotic arm 104translates along the lateral boom 118 until the controller 160 receivesa signal with coordinates indicating that the second set of suction cups204 is positioned over the center of a second pair of dialyzer housings906, 908 on the cooling table 106. In addition, if necessary, thelateral boom 118 of the robotic arm 104 travels along the tracks 122 ofthe base 116 of the robotic arm 104 until the controller 160 receives asignal from the rotary encoder(s) that indicates that the robot hasreached a position with corresponding with the second set of suctioncups 204 being positioned over the center of the second pair of dialyzerhousings 906, 908 on the cooling table 106. As depicted in FIG. 17 , thefirst pair of suction cups 220 of the second set 202 is aligned with thefirst dialyzer housing 906, and the second pair of suction cups 222 ofthe second set 202 is aligned with the second dialyzer housing 908 toenable each pair of suction cups 220, 222 to couple with the respectivedialyzer housing 906, 908.

Still referring to FIG. 17 , once the pairs of suction cups 220, 222 ofthe second set 204 are positioned over the centers of the respectivedialyzer housings 906, 908, the controller 162 controls the verticalprojection 120 of the robotic arm 104 to extend a predetermined distanceto lower the arm tool 114 towards the dialyzer housings 906, 908. Inaddition, the controller 162 controls vacuum suction to be appliedthrough the vacuum lines 152, 154, 156 to the pairs of suction cups 220,222, and through the center of each suction cup in the pairs of suctioncups 220, 222 in order to couple the dialyzer housings 906, 908 to thepairs of suction cups 220, 222. The vertical projection 120 continues toextend until the controller 160 receives a signal from the rotaryencoders indicating that the vertical projection 120 has extended apredetermined distance and receives a signal from a vacuum confirmationsensor indicating that the first and second pairs of suction cups 220,222 are in contact with the surface of the dialyzer housings 906, 908and coupled to the dialyzer housings 906, 908, respectively.

As previously discussed, each suction cup in the pairs 220, 222 includesan opening through its center, and each suction cup in the pairs 220,222 is fluidly coupled to a vacuum source (e.g., vacuum source 150 ofFIG. 1 ) via vacuum lines 152, 154, 156, enabling suction to be appliedthrough the center of each suction cup. The suction force appliedthrough the pairs of suction cups 220, 222 is transferred to the surfaceof the dialyzer housings 906, 908, which couples the dialyzer housings906, 908 to the suction cup pairs 220, 222. FIG. 18 depicts aperspective view of the arm tool 114 positioned to couple a pair ofdialyzer housings 1006, 1008 to the first and second pairs of suctioncups 220, 222, respectively, of the second set of suction cups 204 inorder to remove the dialyzer housings 1006, 1008 from the cooling table106.

Referring to FIG. 19 , once suction has been applied to the dialyzerhousings 906, 908 to couple the dialyzer housings 906, 908 to the pairsof suction cups 220, 222, as determined based on a signal received bythe controller 162 from a vacuum confirmation sensor (not shown), thecontroller 162 controls the vertical projection 120 of the robotic arm104 to retract to lift the dialyzer housings 906, 908 off the coolingtable 106. As the vertical projection 120 retracts, suction iscontinually applied through the pairs of suction cups 220, 222 tomaintain the coupling of the dialyzer housings 906, 908 to the arm tool114.

The vertical projection 120 travels along the lateral boom 118 of therobotic arm 104 until the controller 162 receives a signal from therotary encoder(s) that the vertical projection 120 has travelled apredetermined distance corresponding with a position of the arm tool 114in three-dimensional space that positions the second set of suction cups204 over the storage container 108, as depicted in FIG. 20 . Inaddition, if necessary, the lateral boom 118 of the robotic arm 104travels along the tracks 122 of the base 116 of the robotic arm 104until the controller 160 receives a signal from the rotary encoder(s)that the lateral boom 118 has travelled a predetermined distancecorresponding with a position of the arm tool 114 in three-dimensionalspace that positions the second set of suction cups 204 over the storagecontainer 108.

Referring to FIG. 21 , once the arm tool 114 is positioned over thestorage container 108, the vertical projection 120 of the robotic arm104 extends a predetermined amount, as determined by the rotary encodersof the robotic arm 102, to lower the dialyzer housings 906, 908 into thestorage container 108. The controller controls the movement of therobotic arm 104 components to position the housings 906 and 908 at has aprogrammed position in three-dimensional space. Once the housings 906,908 are positioned in the predetermined position, as determined based onthe position of the arm tool 114 determined based on signals transmittedby the rotary encoders of the robotic arm 104, the controller 162 stopsthe application of the vacuum suction through the second set of suctioncups 204 to decouple the housings 906, 908 from the suction cups 204 andplace the housings 906, 908 in the predetermined position in thecontainer 108. As the container 108 fills with dialyzer housings, thecontroller 162 tallies the number of housings placed in the container todetermine the unique position for placing each housing in the spatialvolume of the container 108. By coupling the cooled dialyzer housings906, 908 to the second set of suction cups 204 with the arm tool 114 inthe first position 200, the length of the posts 214, 216 is maximized,which allows the dialyzer housings 906, 908 to be placed at the bottomof the storage container 108 without dropping the dialyzer housings 906,908 a significant distance. As such, the risk of damage to the dialyzerhousings 906, 908 during packing of the housings 906, 908 in the storagecontainer 108 is reduced.

Before being moved into the storage container 108, the surface of thesecond pair of dialyzer housings 906, 908 is allowed to cool on thecooling table 106 to a temperature ranging between about 200° F. toabout 250° F. In some examples, the dialyzer housings 906, 908 each reston the cooling table 106 about 51 seconds to about 70 seconds beforebeing packed in the storage container 108.

Once the dialyzer housings 906, 908 have been placed in the storagecontainer 108 and released from the arm tool 114, the verticalprojection 120 of the robotic arm 104 retracts to raise the arm tool 114out of the storage container 108. In some implementations, after raisingthe arm tool 114 out of the storage container 108, the verticalprojection 120 moves along the lateral boom 118 and the lateral boom 118moves along the base 116 to reposition the robotic arm 104 and arm tool114 over the injection molding device 102 in preparation for retrievinganother set of dialyzer housings from the injection molding device 102.For example, after raising the arm tool 114 out of the storage container108, the robotic arm moves to the position depicted in FIG. 6 inpreparation for retrieving another pair of dialyzer housings from theinjection molding device 102.

This dialyzer housing manufacturing process continues until the storagecontainer 108 is filled with dialyzer housings. Once filled, the storagecontainer 108 is replaced with a new, empty storage container, and theprocess continues. The filled storage container 108 can be used to packor store the dialyzer housings within the storage container 108.

While certain embodiments have been described above, other embodimentsare possible.

For example, while the method of demolding and packing the dialyzerhousings has been described as relying signals received from rotaryencoders to determine the coordinates of the arm tool 114 inthree-dimensional space in order to coordinate the movements of theinjection molding device 102, the movements of the robotic arm 104, therotation of the arm tool 114, and the application of vacuum suction,alternatively, the movements of the injection molding device 102, therobotic arm 104, the rotation of the arm tool 114, and/or theapplication of vacuum suction through the suction cups 202, 204 can becoordinated based on timing. For example, the robotic arm 104 movesbetween each of the positions of the manufacturing cycle at apredictable rate. Therefore, the times at which rotation of the arm tool114 between the first position 200 and the second position 300 shouldoccur can be determined. Further, the times at which vacuum suctionshould be applied through each of the sets of suction cups 202, 204 tocouple the dialyzer housings to the appropriate set of suction cups 202,204 can be determined. Based on this determination, the controller 160can be programmed to automatically move the robotic arm 104, rotate thearm tool 114, and apply vacuum suction through the suction cup sets 202,204 at predetermined times throughout the manufacturing cycle.

While the system 100 has been described as including a robotic arm 104with a lateral boom 118 and vertical projection 120, other types ofrobotic components may be used to position the arm tool 114 and performthe method of demolding and packing the dialyzer housings.

While the arm tool 114 has been described as including rectangularplatform 206 and a U-shaped platform 212 with particular dimensions,platforms of other sizes and shapes can be used to support the suctioncups of the arm tool 114. In addition, while the widths 270, 370 of theprofile of the arm tool 114 in the first and second positions 200, 300have been described as being about 16 cm to about 17 cm (e.g., about16.5 cm) and about 35 cm to about 36 cm (e.g., about 35.5 cm),respectively, the arm tool 114 can be configured to have differentprofile widths in each position 200, 300.

While the arm tool 114 has been described as including 8 total suctioncups, other numbers of suction cups are possible. For example, in someimplementations, the arm tool includes four total suction cups, with twosuction cups in the first set 202 and two suction cups in the second set204. In this arrangement, one suction cup is coupled to each post 214,216 of the U-shaped platform 212, and one suction cup is attached toeach end of the rectangular platform 206. Further, in implementations inwhich the arm tool 114 includes a total of four suction cups, a singlesuction cup is used to couple the arm tool 114 to a single dialyzerhousing. Alternatively, the arm tool can include a greater number ofsuction cups (e.g., 12 total suction cups, 16 total suction cups, etc.).

Further, while the arm tool 114 has been described as having an equalnumber of suction cups in the first set 202 and the second set 204,alternatively, the first set of suction cups 202 and the second set ofsuction cups 204 can each include a different number of suction cups.

In addition, while the arm tool 114 has been described as having a firstset of suction cups 202 that is oriented about 90 degrees relative tothe second set of suction cups 204, other orientations of the first andsecond set of suction cups can be used. For example, in someimplementations, the first set of suction cups 202 is oriented about 70degrees to about 110 degrees relative to the second set of suction cups204. In some implementations, the first set of suction cups 202 isoriented about 70 degrees to about 110 degrees relative to the secondset of suction cups 204.

While the arm tool 114 has been described as being configured to coupleto two of dialyzer housings simultaneously, alternatively, the arm tool114 can be configured to couple to other numbers of dialyzer housings.In some implementations, the arm tool 114 can be configured to couple toa single dialyzer housing. For example, the arm tool 114 can include atotal of two suction cups: a first suction cup coupled to a firstportion of the frame of the tool (e.g., the rectangular platform 206)and a second suction cup coupled to a second portion of the frame of thetool (e.g., the U-shaped platform 212), and the tool 114 can beconfigured to couple to a single dialyzer housing. Alternatively, thearm tool 114 can be configured to couple to three or more dialyzerhousings simultaneously.

Similarly, while the injection molding device 102 has been describedbeing configured to form two dialyzer housings simultaneously,alternatively, the injection molding device 102 may be configured toform a different number of dialyzer housings (e.g., 1, 3, 4, etc.).

While the robotic arm tool 114 has been described as rotating about 90degrees between a first position 200 and a second position 300, the armtool 114 can be controlled to rotate a different amount between thefirst position 200 and the second position 300. For example, in someimplementations, the arm tool 114 rotates between about 70 degrees andabout 110 degrees between the first position 200 and the second position300.

In addition, while the arm tool 114 has been described as rotatingbetween a first fixed position 200 and a second fixed position 300,alternatively, the arm tool 114 can move fluidly between variouspositions during the manufacturing cycle without stopping at fixedpositions.

While the robotic arm 104 and arm tool 114 have been described as beingused in a system for manufacturing dialyzer housings, alternatively, therobotic arm 104 and arm tool 114 can be used for manufacturing otheritems. For example, the robotic arm 104 and the arm tool 114 can be usedto demold other types of components from an injection mold.

While the arm tool 114 has been described as being coupled to therobotic arm 104 with a pin connector 302, alternatively, other couplingmechanisms can be used to couple the arm tool 114 to the robotic arm104.

While the injection molding device 102 has been described as having fourmold alignment pins, alternatively, the injection molding device 102 mayinclude a different number of mold alignment pins (e.g., 2, 3, 5, 6,etc.). Similarly, while the injection molding device 102 has beendescribed as having four core alignment pins, alternatively, theinjection molding device 102 may include a different number of corealignment pins (e.g., 2, 3, 5, 6, etc.).

In addition, while the molding process has been described as moving thesecond mold half 112 about 230 mm apart from the first mold half 110,the mold can open other distances. For example, in some implementations,the second mold half 112 is moved about 200 mm to about 240 mm apartfrom the first mold half 110 to accommodate the insertion of the armtool 114 (positioned in the first position 200) between the mold halves110, 112.

A number of embodiments have been described. Nevertheless, it will beunderstood that various modifications may be made without departing fromthe spirit and scope of the disclosure. Accordingly, other embodimentsare within the scope of the following claims.

What is claimed is:
 1. A dialyzer housing manufacturing systemcomprising: a molding device configured to mold a dialyzer housing; anda tool coupled to a robotic arm and configured to retrieve the dialyzerhousing from the molding device after the dialyzer housing is molded,the tool comprising: a frame; a first suction cup connected to a firstportion of the frame; and a second suction cup connected to a secondportion of the frame, the second suction cup being oriented about 70degrees to about 110 degrees relative to the first suction cup.
 2. Thedialyzer housing manufacturing system of claim 1, wherein the first andsecond suction cups are fluidly coupled to a vacuum source.
 3. Thedialyzer housing manufacturing system of claim 1, further comprising: athird suction cup connected to the first portion of the frame; a fourthsuction cup connected to the first portion of the frame; a fifth suctioncup connected to the first portion of the frame; a sixth suction cupconnected to the second portion of the frame; a seventh suction cupconnected to the second portion of the frame; and an eighth suction cupconnected to the second portion of the frame, the sixth, seventh, andeighth suction cups being oriented about 70 degrees to about 110 degreesrelative to the third, fourth, and fifth suction cups.
 4. The dialyzerhousing manufacturing system of claim 1, wherein the molding device isconfigured to mold two dialyzer housings.
 5. The dialyzer housingmanufacturing system of claim 4, wherein the tool is configured tosimultaneously retrieve two dialyzer housings from the molding device.6. The dialyzer housing manufacturing system of claim 1, wherein themolding device is an injection molding device.
 7. The dialyzer housingmanufacturing system of claim 1, wherein the tool is rotatable between afirst position and a second position.
 8. The dialyzer housingmanufacturing system of claim 7, further comprising: a pneumaticcylinder; and a rotation pin, wherein: the rotation pin couples the toolto the robotic arm; and the tool is configured to rotate about therotation pin in response to a force applied to the tool by the pneumaticcylinder.
 9. The dialyzer housing manufacturing system of claim 7,wherein a width of the tool in the first position is about 16 cm toabout 17 cm.
 10. The dialyzer housing manufacturing system of claim 9,wherein the molding device is configured to open a pair of mold halvesbetween about 200 mm to about 240 mm after molding the dialyzer housing.11. The dialyzer housing manufacturing system of claim 7, wherein awidth of the tool in the second position is about 35 cm to about 36 cm.12. The dialyzer housing manufacturing system of claim 1, wherein: themold comprises an alignment pin coupled to a first half of the mold; andthe alignment pin remains partially inserted into a second half of themold when the mold is opened after molding the dialyzer housing.
 13. Thedialyzer housing manufacturing system of claim 1, further comprising acooling table for cooling the dialyzer housing.
 14. The dialyzer housingmanufacturing system of claim 1, further comprising a storage containerfor storing the dialyzer housing.
 15. A device for removing a dialyzerhousing from a mold, the device comprising: a tool coupled to a roboticarm, the tool comprising: a frame; a first suction cup connected to afirst portion of the frame; and a second suction cup connected to asecond portion of the frame, the second suction cup being oriented about70 degrees to about 110 degrees relative to the first suction cup; and apin rotatably coupling the tool to the robotic arm.
 16. The device ofclaim 15, wherein the first and second suction cups are fluidly coupledto a vacuum source.
 17. The device of claim 15, further comprising: athird suction cup connected to the first portion of the frame; a fourthsuction cup connected to the first portion of the frame; a fifth suctioncup connected to the first portion of the frame; a sixth suction cupconnected to the second portion of the frame; a seventh suction cupconnected to the second portion of the frame; and an eighth suction cupconnected to the second portion of the frame, the sixth, seventh, andeighth suction cups being oriented about 70 degrees to about 110 degreesrelative to the third, fourth, and fifth suction cups.
 18. The device ofclaim 15, wherein the tool is configured to rotate about 70 degrees toabout 110 degrees between a first position and second position about thepin.
 19. The device of claim 18, wherein a width of the tool in thefirst position is about 16 cm to about 17 cm.
 20. The device of claim18, wherein a width of the tool in the second position is about 35 cm toabout 36 cm.